swap pow() function for _powtwo()

Author: runger1101001

src/common/foc_utils.h

@@ -12,6 +12,7 @@
 #define _sqrt(a) (_sqrtApprox(a))
 #define _isset(a) ( (a) != (NOT_SET) )
 #define _UNUSED(v) (void) (v)
+#define _powtwo(x) (1 << (x))
 
 // utility defines
 #define _2_SQRT3 1.15470053838f

src/sensors/MagneticSensorI2C.cpp

@@ -28,7 +28,7 @@ MagneticSensorI2C::MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution,
   // angle read register of the magnetic sensor
   angle_register_msb = _angle_register_msb;
   // register maximum value (counts per revolution)
-  cpr = pow(2, _bit_resolution);
+  cpr = _powtwo(_bit_resolution);
 
   // depending on the sensor architecture there are different combinations of
   // LSB and MSB register used bits
@@ -48,7 +48,7 @@ MagneticSensorI2C::MagneticSensorI2C(MagneticSensorI2CConfig_s config){
   // angle read register of the magnetic sensor
   angle_register_msb = config.angle_register;
   // register maximum value (counts per revolution)
-  cpr = pow(2, config.bit_resolution);
+  cpr = _powtwo(config.bit_resolution);
 
   int bits_used_msb = config.data_start_bit - 7;
   lsb_used = config.bit_resolution - bits_used_msb;

src/sensors/MagneticSensorSPI.cpp

@@ -31,13 +31,13 @@ MagneticSensorSPIConfig_s MA730_SPI = {
 //  cs              - SPI chip select pin
 //  _bit_resolution   sensor resolution bit number
 // _angle_register  - (optional) angle read register - default 0x3FFF
-MagneticSensorSPI::MagneticSensorSPI(int cs, float _bit_resolution, int _angle_register){
+MagneticSensorSPI::MagneticSensorSPI(int cs, int _bit_resolution, int _angle_register){
 
   chip_select_pin = cs;
   // angle read register of the magnetic sensor
   angle_register = _angle_register ? _angle_register : DEF_ANGLE_REGISTER;
   // register maximum value (counts per revolution)
-  cpr = pow(2,_bit_resolution);
+  cpr = _powtwo(_bit_resolution);
   spi_mode = SPI_MODE1;
   clock_speed = 1000000;
   bit_resolution = _bit_resolution;
@@ -52,7 +52,7 @@ MagneticSensorSPI::MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs){
   // angle read register of the magnetic sensor
   angle_register = config.angle_register ? config.angle_register : DEF_ANGLE_REGISTER;
   // register maximum value (counts per revolution)
-  cpr = pow(2, config.bit_resolution);
+  cpr = _powtwo(config.bit_resolution);
   spi_mode = config.spi_mode;
   clock_speed = config.clock_speed;
   bit_resolution = config.bit_resolution;

src/sensors/MagneticSensorSPI.h

@@ -30,7 +30,7 @@ class MagneticSensorSPI: public Sensor{
      * @param bit_resolution   sensor resolution bit number
      * @param angle_register  (optional) angle read register - default 0x3FFF
      */
-    MagneticSensorSPI(int cs, float bit_resolution, int angle_register = 0);
+    MagneticSensorSPI(int cs, int bit_resolution, int angle_register = 0);
     /**
      *  MagneticSensorSPI class constructor
      * @param config   SPI config